Title :
Balance control for an acrobot
Author :
Xue, Fangzheng ; Hou, Zhicheng ; Deng, Hangjian
Author_Institution :
Coll. of Autom., Chongqing Univ., Chongqing, China
Abstract :
A balancing controller using LQR approach and GA method is designed for three-link acrobot. The three-link acrobot we studied is not actuated by torque but acceleration, which has more significant than the common one. We establish the model of the acrobot, which consists of two parts: actuation model and dynamic model. Using LQR method, a balancing controller is designed for the model. And genetic algorithms method is used to improve the performance of it. Simulation results show the feasibility and effectiveness of the controller.
Keywords :
genetic algorithms; linear quadratic control; robots; GA method; LQR approach; actuation model; balance control; balancing controller; dynamic model; genetic algorithms; three-link acrobot; Actuators; Genetic algorithms; Joints; Mathematical model; Robots; Simulation; Torque; Acrobot; Balance control; GA; LQR;
Conference_Titel :
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location :
Mianyang
Print_ISBN :
978-1-4244-8737-0
DOI :
10.1109/CCDC.2011.5968708
